by Loi-Wah Sun. / Thesis (M.Phil.)--Chinese University of Hong Kong, 2000. / Includes bibliographical references (leaves 77-81). / Abstracts in English and Chinese. / Abstract --- p.i / Acknowledgments --- p.iii / Contents --- p.v / List of Figures --- p.vii / List of Tables --- p.viii / Chapter 1 --- Introduction --- p.1 / Chapter 1.1 --- Motivation --- p.1 / Chapter 1.1.1 --- Literature review --- p.2 / Chapter 1.1.2 --- Gyroscopic precession --- p.5 / Chapter 1.2 --- Thesis overview --- p.7 / Chapter 2 --- Dynamics of the robot on ground --- p.9 / Chapter 2.1 --- System model re-derivation --- p.10 / Chapter 2.1.1 --- Linearized model --- p.15 / Chapter 2.2 --- A state feedback control --- p.16 / Chapter 2.3 --- Dynamic characteristics of the system --- p.18 / Chapter 2.4 --- Simulation study --- p.19 / Chapter 2.4.1 --- The self-stabilizing dynamics effect of the single wheel robot --- p.21 / Chapter 2.4.2 --- The Tilting effect of flywheel on the robot --- p.23 / Chapter 2.5 --- Dynamic parameters analysis --- p.25 / Chapter 2.5.1 --- Swinging pendulum --- p.25 / Chapter 2.5.2 --- Analysis of radius ratios --- p.27 / Chapter 2.5.3 --- Analysis of mass ratios --- p.30 / Chapter 3 --- Dynamics of the robot on incline --- p.33 / Chapter 3.1 --- Modeling of rolling disk on incline --- p.33 / Chapter 3.1.1 --- Disk rolls up on an inclined plane --- p.37 / Chapter 3.2 --- Modeling of single wheel robot on incline --- p.39 / Chapter 3.2.1 --- Kinematic constraints --- p.40 / Chapter 3.2.2 --- Equations of motion --- p.41 / Chapter 3.2.3 --- Model simplification --- p.43 / Chapter 3.2.4 --- Linearized model --- p.46 / Chapter 4 --- Control of the robot on incline --- p.47 / Chapter 4.1 --- A state feedback control --- p.47 / Chapter 4.1.1 --- Simulation study --- p.49 / Chapter 4.2 --- Backstepping-based control --- p.51 / Chapter 4.2.1 --- Simulation study --- p.53 / Chapter 4.2.2 --- The effect of the spinning rate of flywheel --- p.56 / Chapter 4.2.3 --- Simulation study --- p.58 / Chapter 4.2.4 --- Roll up case --- p.58 / Chapter 4.2.5 --- Roll down case --- p.58 / Chapter 5 --- Motion planning --- p.61 / Chapter 5.1 --- Performance index --- p.61 / Chapter 5.2 --- Condition of rolling up --- p.62 / Chapter 5.3 --- Motion planning of rolling Up --- p.65 / Chapter 5.3.1 --- Method I : Orientation change --- p.65 / Chapter 5.3.2 --- Method II : Change the initial velocities --- p.69 / Chapter 5.4 --- Wheel rolls Down --- p.70 / Chapter 5.4.1 --- Terminal velocity of rolling body down --- p.73 / Chapter 6 --- Summary --- p.75 / Chapter 6.1 --- Contributions --- p.75 / Chapter 6.2 --- Future Works --- p.76 / Bibliography --- p.78
| Identifer | oai:union.ndltd.org:cuhk.edu.hk/oai:cuhk-dr:cuhk_323256 |
| Date | January 2000 |
| Contributors | Sun, Loi-Wah., Chinese University of Hong Kong Graduate School. Division of Mechanical and Automation Engineering. |
| Source Sets | The Chinese University of Hong Kong |
| Language | English, Chinese |
| Detected Language | English |
| Type | Text, bibliography |
| Format | print, viii, 81 leaves : ill. ; 30 cm. |
| Rights | Use of this resource is governed by the terms and conditions of the Creative Commons “Attribution-NonCommercial-NoDerivatives 4.0 International” License (http://creativecommons.org/licenses/by-nc-nd/4.0/) |
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